Adds get group urdf service (#174)

* Add service * Format * Format and use MoveItErrorCode
moveit · Jan 15, 2024 · 0e203aa · 0e203aa
1 parent 2ec1aa2
commit 0e203aa
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -100,6 +100,7 @@ set(srv_files
   "srv/RenameRobotStateInWarehouse.srv"
   "srv/DeleteRobotStateFromWarehouse.srv"
   "srv/ServoCommandType.srv"
+  "srv/GetGroupUrdf.srv"
 )
 
 set(action_files

diff --git a/srv/GetGroupUrdf.srv b/srv/GetGroupUrdf.srv
@@ -0,0 +1,7 @@
+# Name of the planning group for which an URDF is requested
+string group_name
+---
+# Whether an error occurred
+MoveItErrorCodes error_code
+# URDF of the requested group. Empty if request was not successful e.g. because the group does not exist
+string urdf_string